/Engine/Plugins/Experimental/FullBodyIK/Source/FullBodyIK/Public/JacobianSolver.h
This support positional target using quaternion instead of 3 world axis This creates rotation axis using effector target of known (https://cseweb.ucsd.edu/classes/sp16/cse169-a/slides/CSE169_09.pdf)
class FJacobianSolver_PositionTarget_Quat : public [FJacobianSolverBase](API\Plugins\FullBodyIK\FJacobianSolverBase)